CN209256962U - Infrared detection robot - Google Patents
Infrared detection robot Download PDFInfo
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- CN209256962U CN209256962U CN201821901210.8U CN201821901210U CN209256962U CN 209256962 U CN209256962 U CN 209256962U CN 201821901210 U CN201821901210 U CN 201821901210U CN 209256962 U CN209256962 U CN 209256962U
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Abstract
The utility model relates to a kind of infrared detection robots, including robot body, holder, angular transducer, infrared radiation detection apparatus, industrial personal computer, cloud platform control system and host computer；Holder is arranged on robot body, and angular transducer and infrared radiation detection apparatus are separately positioned on holder；Angular transducer is electrically connected with cloud platform control system, cloud platform control system and industry control mechatronics, and cloud platform control system is also drivingly connected with holder, industrial personal computer also respectively with infrared radiation detection apparatus and upper mechatronics.Above-mentioned infrared detection robot realizes during inspection and freely adjusts control holder angle, so that infrared radiation detection apparatus be driven to carry out precise positioning to examined object, detection accuracy is high；And infrared detection robot can carry out large-scale inspection according to fixed route under the control of industrial personal computer, and upload when will test fructufy；In addition, testing result can carry out the information exchanges such as data, video, audio by host computer and local monitor backstage and remote control backstage.
Description
Technical field
The utility model relates to field in intelligent robotics, more particularly to a kind of infrared detection robot.
Background technique
The special chemicals gases such as current SF6 are mainly used in power industry.SF6 gas is used for the electrical equipment of 4 seed types
As insulation and/or arc extinguishing: SF6 breaker and GIS (refer herein to sulfur hexafluoride sealed combination electrical equipment, are known as " gas in the world
Body insulated switching installation " (Gas Insulated Switchgear)), SF6 load switch equipment, SF6 insulated power pipeline,
SF6 transformer and SF6 insulated substations.SF6 gas 80% is used for high pressure power equipment.In the electricity of sulfur hexafluoride gas-insulating
In gas equipment running process, if SF6 gas leakage occurs, apparatus insulated performance may be made to substantially reduce, come very to equipment belt
Big security risk influences the complete operation of power grid, and the SF6 gas deteriorated also has toxicity to the biology such as human body, to ring
Border will also result in pollution.Therefore, so just becoming most important for the leak detection of chemical gas.In addition, when electrical equipment exists
It is excessively high to will lead to local temperature when the defects of overheat, dampness and electric discharge, and then leads to equipment deficiency.
In terms of chemical gas leak detection, the chemical gas such as common SF6 leak detection online measuring technique is main both at home and abroad at present
There are the electrodeless ionization type of utilized ultraviolet radiation for generating, the higher-order of oscillation, electronics trap-type, platinum filament thermionic emission type and negative corona discharge type.
These method leakage position positioning performances are poor, and vulnerable to interference, detection error is big with environmental change, are difficult to accomplish to be accurately positioned and determine
Amount detection.And in terms of electrical equipment thermometric, on-site test most efficient method is namely based on the thermometric of infrared detection principle at present
Device.Since the instrument of current infrared measurement of temperature or gas leak detection is based on hand-held, site workload is big, low efficiency, acceptor
Sight factor influences greatly, and analyzes and determines that means are simple, is difficult to accomplish accurate positioning and quantitative detection.
Utility model content
Based on this, it is necessary to be the work on the spot based on hand-held for the instrument of current infrared measurement of temperature or gas leak detection
Amount is big, and low efficiency is influenced by subjective factor, and analyzes and determines that means are simple, is difficult to accomplish to be accurately positioned and quantitative detection
Technical problem provides a kind of infrared detection robot.
A kind of infrared detection robot, including robot body, holder, angular transducer, infrared radiation detection apparatus, industrial personal computer,
Cloud platform control system and host computer；The holder is arranged on the robot body, the angular transducer and described infrared
Detector is separately positioned on the holder；The angular transducer is electrically connected with the cloud platform control system, the holder control
System processed and the industry control mechatronics, the cloud platform control system are also drivingly connected with the holder, and the industrial personal computer also divides
Not with the infrared radiation detection apparatus and the upper mechatronics.
The cloud platform control system includes cradle head controllor, motor driver and servo electricity in one of the embodiments,
Machine, the cradle head controllor are electrically connected with the industrial personal computer and the angular transducer respectively, the cradle head controllor also with institute
Motor driver electrical connection is stated, the motor driver and the servo motor are drivingly connected, the servo motor and the cloud
Platform is drivingly connected.
The robot body includes main body, mobile driving assembly and moving assembly in one of the embodiments,；It is described
Holder is arranged on the body, and the moving assembly is movably set in the main body；The mobile driving assembly with it is described
Industry control mechatronics, the mobile driving assembly are also drivingly connected with the moving assembly.
The moving assembly includes front wheels and rear wheels in one of the embodiments, wherein the front-wheel includes at least one
A driving wheel, the rear-wheel include at least two universal wheels；Each driving wheel and each universal wheel are respectively arranged at described
In main body；The mobile driving assembly is drivingly connected with each driving wheel and each universal wheel respectively.
The infrared detection robot further includes Inertial Measurement Unit in one of the embodiments, the inertia measurement
Unit is arranged on the robot body, the Inertial Measurement Unit and the industry control mechatronics.
The infrared detection robot further includes ultrasonic sensor in one of the embodiments, and the ultrasonic wave passes
Sensor is set on the holder, the ultrasonic sensor and the industry control mechatronics.
The infrared detection robot further includes laser radar in one of the embodiments, the laser radar setting
In on the holder, the laser radar and the industry control mechatronics.
The infrared detection robot further includes alarm in one of the embodiments, and the alarm is in the work
Control mechatronics.
The infrared detection robot further includes loudspeaker in one of the embodiments, the loudspeaker and the work
Control mechatronics.
The infrared detection robot further includes battery in one of the embodiments, and the battery is mounted on institute
It states on robot body, the battery is electrically connected with the cloud platform control system.
Above-mentioned infrared detection robot, the angular position information of holder is acquired by angular transducer, and is transferred to holder
Control system, industrial personal computer controls cloud platform control system and drives holder to be rotated freely according to the angular position information, thus band
Dynamic infrared radiation detection apparatus rotates freely；Infrared radiation detection apparatus is directed at detection object under the drive that holder rotates and detects examined object
Heating information, and be transferred to industrial personal computer, the heating information of the object under test is transferred to host computer, final host computer by industrial personal computer
Analysis is carried out to the heating information of the object under test to measure the temperature of the examined object and whether obtain chemical entities
The testing result of leakage.Since infrared radiation detection apparatus is arranged on holder for infrared detection robot, and pass through angular transducer, cloud
The collective effect of bench control system, industrial personal computer and host computer, realization freely adjusts control holder angle during inspection, thus
Infrared radiation detection apparatus is driven to carry out precise positioning to examined object, detection accuracy is high；And infrared detection robot can be in industrial personal computer
Control under according to fixed route carry out large-scale inspection, and upload when will test fructufy；In addition, infrared detection robot
Not by environmental influence, testing result can carry out data, view by host computer and local monitor backstage and remote control backstage
Frequently, the information exchanges such as audio, greatly improve automatization level.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of infrared detection robot in one embodiment；
Fig. 2 is the module diagram of the cloud platform control system of infrared detection robot in one embodiment.
Specific embodiment
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this
The specific embodiment of utility model is described in detail.Many details are explained in the following description in order to abundant
Understand the utility model.But the utility model can be implemented with being much different from other way described herein, this field
Technical staff can do similar improvement without prejudice to the utility model connotation, therefore the utility model is not by following public affairs
The limitation for the specific embodiment opened.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside",
The orientation or positional relationship of the instructions such as " clockwise ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " is based on the figure
Orientation or positional relationship is merely for convenience of describing the present invention and simplifying the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to the utility model
Limitation.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.The meaning of " plurality " is at least two, such as two in the description of the present invention,
It is a, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element, unless otherwise restricted clearly.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention unless specifically defined or limited otherwise, fisrt feature is in the second feature " on " or " down "
It can be that the first and second features directly contact or the first and second features are by intermediary mediate contact.Moreover, first is special
Sign can be fisrt feature above the second feature " above ", " above " and " above " and be directly above or diagonally above the second feature, or only
Indicate that first feature horizontal height is higher than second feature.Fisrt feature under the second feature " below ", " below " and " below " can be with
It is that fisrt feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be with
It is directly to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " level
", "upper", "lower", "left", "right" and similar statement for illustrative purposes only, be not offered as being uniquely to implement
Mode.
The utility model provides a kind of infrared detection robot, in one of the embodiments, as shown in Figure 1, a kind of red
Outer detection robot 10, including robot body 100, holder 200, angular transducer 300, infrared radiation detection apparatus 400, industrial personal computer
500, cloud platform control system 600 and host computer 700；The holder 200 is arranged on the robot body 100, the angle
Sensor 300 and the infrared radiation detection apparatus 400 are separately positioned on the holder 200；The angular transducer 300 and the cloud
Bench control system 600 is electrically connected, and the cloud platform control system 600 is electrically connected with the industrial personal computer 500, the cloud platform control system
600 also with the holder 200 be drivingly connected, the industrial personal computer 500 also respectively with the infrared radiation detection apparatus 400 and the host computer
700 electrical connections.
The infrared detection robot 10 of the present embodiment is believed by the angle position that angular transducer 300 acquires holder 200
Breath, and it is transferred to cloud platform control system 600, industrial personal computer 500 controls cloud platform control system 600 and is driven according to the angular position information
Holder 200 is rotated freely, so that infrared radiation detection apparatus 400 be driven to rotate freely；Infrared radiation detection apparatus 400 is rotated in holder 200
Drive under be directed at detection object and detect the heating information of examined object, and be transferred to industrial personal computer 500, industrial personal computer 500 will
The heating information of the object under test is transferred to host computer 700, and final host computer 700 divides the heating information of the object under test
Analysis is to measure the temperature of the examined object and obtain the testing result whether chemical entities leak.Due to infrared detection machine
Infrared radiation detection apparatus is arranged on holder device people, and being total to by angular transducer, cloud platform control system, industrial personal computer and host computer
Same-action, during inspection realize freely adjust controls holder angle, thus drive infrared radiation detection apparatus to examined object into
Row precise positioning, detection accuracy are high；And infrared detection robot can carry out big model according to fixed route under the control of industrial personal computer
The inspection enclosed, and upload when will test fructufy；In addition, infrared detection robot is not by environmental influence, testing result can
The information exchanges such as data, video, audio are carried out by host computer and local monitor backstage and remote control backstage, are greatlyd improve
Automatization level.
Specifically, robot body is used to carry holder as pedestal, so that holder is detached from bottom surface and can move freely.Angle
Sensor is used to acquire the angular position information of holder and is transferred to cloud platform control system.Cloud platform control system is used in industrial personal computer
Control under according to angular transducer send angular position information control holder rotated freely.
Holder under the driving of cloud platform control system for rotating freely, to drive infrared radiation detection apparatus to rotate.For example, holder
For cradle head of two degrees of freedom, two degrees of freedom includes horizontal freedom degree and vertical degree of freedom.
Infrared radiation detection apparatus is used under the drive of holder, is directed at detection object and is detected the heating information of examined object,
And the heating information of examined object is transferred to industrial personal computer.For example, infrared radiation detection apparatus is directed at detection object and obtains determinand
The Infrared Thermogram of body.On the one hand, this thermography is corresponding with the heat distribution field of body surface, the difference of the upper surface of thermal image
Color represents the different temperatures of object under test, therefore the temperature of object under test can be measured by infrared radiation detection apparatus；On the other hand,
Since in 10 μm~11 μm or so of infrared absorption character, there are larger differences to wavelength for sulfur hexafluoride gas and air, cause
The Infrared Thermogram of the two reflection is different, and infrared radiation detection apparatus utilizes above-mentioned principle, is detected using advanced highly sensitive Quantum Well
Device cooperates advanced electronics and image processing techniques, and feeling of passivity answers 10~11 mu m wavebands to radiate strong feature imaging, accurate in real time
Ground detects chemical gas leakage position, and forms intuitive Infrared Thermogram immediately, i.e., the gas that will be can't see under typically seen light
Body leakage, is reflected with the formal intuition of Infrared Thermogram, to complete to obtain the detection knot whether chemical entities leak
Fruit.
For example, infrared radiation detection apparatus is connect by wireless access point with industrial personal computer.Wherein, the detectable chemistry of infrared radiation detection apparatus
Gas includes sulfur hexafluoride, ammonia, LOCTITE 411, chlorine dioxide, acetic acid, dichlorodifluoromethane, ethylene and butanone etc..
Industrial personal computer controls holder for controlling cloud platform control system and is rotated freely, and industrial personal computer is also used to receive red
The heating information of outer detector transmission is simultaneously transferred to host computer.Industrial personal computer (Industrial Personal Computer, IPC)
That is industrial control computer is a kind of using bus structures, and production process and electromechanical equipment, technological equipment are detected and controlled
The tool general name of system.Industrial personal computer has important computer attribute and feature, such as has computer motherboard, CPU (Central
Processing Unit, central processing unit), hard disk, memory, peripheral hardware and interface, and have operating system, control network and agreement,
Computing capability, friendly man-machine interface.The product and technology of industry control industry are very special, belong to intermediate products, are for other are each
Industry provides stable, reliable, embedded, intelligentized industrial computer.
Host computer is used to receive the heating information of industrial personal computer transmission and carries out analysis to obtain whether chemical entities leak
Testing result.Host computer refers to the computer that can directly issue manipulation command, and various signal intensities are shown on screen, described
Signal includes hydraulic, water level, temperature etc..Industrial personal computer is given in the order that host computer issues first, and industrial personal computer is further according to this command interpretation
Relevant device is directly controlled at corresponding time sequence signal.Industrial personal computer reads device status data frequently, which is generally mould
Analog quantity is converted into digital signal and feeds back to host computer.
In order to facilitate driving holder rotation, in one of the embodiments, as shown in Fig. 2, the cloud platform control system 600
Including cradle head controllor 610, motor driver 620 and servo motor 630, the cradle head controllor 610 respectively with the industry control
Machine 500 and the angular transducer 300 are electrically connected, and the cradle head controllor 610 is also electrically connected with the motor driver 620,
The motor driver 620 is drivingly connected with the servo motor 630, and the servo motor 630 connects with the holder 200 driving
It connects.The angular position information for the holder 200 that cradle head controllor 610 is acquired for receiving angle sensor 300, and in industrial personal computer
Motor driver 620 is controlled according to the angular position information under 500 control to move；Motor driver 620 is used in holder control
Driving servo motor 630 moves under the control of device 610 processed；Servo motor 630 drives holder under the driving of motor driver 620
200 rotations.In this way, facilitating driving holder rotation by setting cradle head controllor, motor driver and servo motor.
In order to make infrared detection robot can automatically detect the object under test of different location, one embodiment wherein
In, as shown in Figure 1, the robot body 100 includes main body 110, mobile driving assembly (not shown) and moving assembly 120；
The holder 200 is arranged in the main body 110, and the moving assembly 120 is movably set in the main body 110；The shifting
Dynamic driving assembly is electrically connected with the industrial personal computer 500, and the mobile driving assembly is also drivingly connected with the moving assembly 120.
For example, mobile driving assembly is connect by bus with industrial personal computer 500.Mobile driving assembly is used under the control of industrial personal computer 500
Drive moving assembly 120 mobile, moving assembly 120 is used under the driving of mobile driving assembly be moved, and drives holder
200 is mobile.In this way, keeping robot body and holder mobile, while driving cloud by the way that mobile driving assembly and moving assembly is arranged
Angular transducer and infrared radiation detection apparatus on platform is mobile, and infrared detection robot is enabled to be automatically moved to different location, from
And it can automatically detect the object under test of different location.For example, the mobile driving assembly passes through bus and industry control mechatronics.
In order to facilitate drive infrared detection robot movement, in one of the embodiments, the moving assembly include
Front wheels and rear wheels, wherein the front-wheel includes at least one driving wheel, and the rear-wheel includes at least two universal wheels；It is each described
Driving wheel and each universal wheel are respectively set on the body；The mobile driving assembly respectively with each driving wheel and
Each universal wheel is drivingly connected.In this way, can be convenient by setting driving wheel and universal wheel and drive infrared detection robot past
All directions are mobile, so that the investigative range of infrared radiation detection apparatus is wider.
In order to measure the acceleration information of infrared detection robot, the infrared detection machine in one of the embodiments,
Device people further includes Inertial Measurement Unit, and the Inertial Measurement Unit is arranged on the robot body, the inertia measurement list
The first and industry control mechatronics.Inertial Measurement Unit is used to detect the acceleration information of robot body, and by the acceleration
Data are transferred to industrial personal computer, and industrial personal computer can adjust the movement of infrared detection robot according to the acceleration information.For example, inertia is surveyed
Acceleration transducer and gyroscope are integrated on amount unit.
Infrared detection robot and barrier collide in order to prevent, in one of the embodiments, the infrared detection machine
Device people further includes ultrasonic sensor, and the ultrasonic sensor is set on the holder, the ultrasonic sensor and institute
State industry control mechatronics.Ultrasonic sensor is used to detect the ultrasound information of barrier.In this way, passing through setting supersonic sensing
Device, can detecte infrared detection robot nearby has the ultrasound information of barrier, and the ultrasound information is sent to industrial personal computer,
The ultrasound information is transferred to host computer by industrial personal computer, and PC control industrial personal computer adjusts the motion profile of infrared detection robot,
Prevent infrared detection robot and barrier from colliding.
In order to accurately calculate the distance of barrier, the infrared detection robot is also in one of the embodiments,
Including laser radar, the laser radar is set on the holder, the laser radar and the industry control mechatronics.Laser
Radar is used to detect the range information of barrier.In this way, by setting laser radar, can detecte infrared detection robot with
Range information data of the distance between barrier, and the range information data are sent to industrial personal computer, industrial personal computer is by the distance
Information data transmission accurately calculates the distance of barrier to host computer, host computer, may thereby determine that infrared detection machine
The range of the movable clear of people.
In order to be warned when occurring abnormal in the infrared detection robot course of work, in one of the embodiments,
The infrared detection robot further includes alarm, and the alarm is in the industry control mechatronics.For example, the alarm is logical
I/O (Input/output, input/output) agreement is crossed to connect with the industrial personal computer.Alarm be used for when there is abnormal conditions into
Row alarm.In this way, being warned when can occur abnormal in the infrared detection robot course of work by setting alarm.
For example, abnormal conditions may include the mobile abnormal conditions of infrared detection robot, such as will be mobile abnormal with barrier collision etc.
Situation, in another example, abnormal conditions may also include infrared detection robot detection abnormal conditions, such as infrared radiation detection apparatus cannot be normal
The detection abnormal conditions such as detection.For example, alarm includes combined aural and visual alarm.Combined aural and visual alarm can sounding warned, may be used also
It shines and is warned.
In order to make infrared detection robot can be with sounding, the infrared detection robot be also in one of the embodiments,
Including loudspeaker, the loudspeaker and the industry control mechatronics.For example, the loudspeaker passes through I/O agreement and the industry control
Machine connection.In this way, infrared detection robot can be with sounding by setting loudspeaker.For example, loudspeaker can play testing result；
For another example, loudspeaker can play control instruction.
In order to allow infrared detection robot do not have to plug-in can also normal use, it is described in one of the embodiments,
Infrared detection robot further includes battery, and the battery is mounted on the robot body, the battery with it is described
Cloud platform control system electrical connection.Battery is used to power to infrared detection robot.In this way, giving infrared detection machine by battery
Device people power supply, can be used normally infrared detection robot without plug-in, so that infrared detection robot does not need to insert
It pulls out, moving range is not also limited by cable and socket, increases the flexibility that infrared detection robot uses.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of infrared detection robot, which is characterized in that including robot body, holder, angular transducer, infrared detection
Instrument, industrial personal computer, cloud platform control system and host computer；
The holder is arranged on the robot body, and the angular transducer and the infrared radiation detection apparatus are separately positioned on institute
It states on holder；
The angular transducer is electrically connected with the cloud platform control system, and the cloud platform control system is electrically connected with the industrial personal computer
Connect, the cloud platform control system also with the holder be drivingly connected, the industrial personal computer also respectively with the infrared radiation detection apparatus and institute
State upper mechatronics.
2. infrared detection robot according to claim 1, which is characterized in that the cloud platform control system includes holder control
Device, motor driver and servo motor processed, the cradle head controllor are electrically connected with the industrial personal computer and the angular transducer respectively
It connects, the cradle head controllor is also electrically connected with the motor driver, and the motor driver and servo motor driving connect
It connects, the servo motor and the holder are drivingly connected.
3. infrared detection robot according to claim 1, which is characterized in that the robot body includes main body, moves
Dynamic driving assembly and moving assembly；
On the body, the moving assembly is movably set in the main body for the holder setting；
The mobile driving assembly and the industry control mechatronics, the mobile driving assembly, which also drives with the moving assembly, to be connected
It connects.
4. infrared detection robot according to claim 3, which is characterized in that the moving assembly includes front-wheel with after
Wheel, wherein the front-wheel includes at least one driving wheel, and the rear-wheel includes at least two universal wheels；
Each driving wheel and each universal wheel are respectively arranged in the main body；
The mobile driving assembly is drivingly connected with each driving wheel and each universal wheel respectively.
5. infrared detection robot according to claim 3, which is characterized in that the infrared detection robot further includes being used to
Property measuring unit, the Inertial Measurement Unit is arranged on the robot body, the Inertial Measurement Unit and the industry control
Mechatronics.
6. infrared detection robot according to claim 1, which is characterized in that the infrared detection robot further includes surpassing
Sonic sensor, the ultrasonic sensor are set on the holder, and the ultrasonic sensor is electrically connected with the industrial personal computer
It connects.
7. infrared detection robot according to claim 1, which is characterized in that the infrared detection robot further includes swashing
Optical radar, the laser radar are set on the holder, the laser radar and the industry control mechatronics.
8. infrared detection robot according to claim 1, which is characterized in that the infrared detection robot further includes report
Alert device, the alarm is in the industry control mechatronics.
9. infrared detection robot according to claim 1, which is characterized in that the infrared detection robot further includes raising
Sound device, the loudspeaker and the industry control mechatronics.
10. infrared detection robot according to claim 1, which is characterized in that the infrared detection robot further includes
Battery, the battery are mounted on the robot body, and the battery is electrically connected with the cloud platform control system.
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| CN201821901210.8U CN209256962U (en) | 2018-11-19 | 2018-11-19 | Infrared detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318205A (en) * | 2018-11-19 | 2019-02-12 | 广州供电局有限公司 | Infrared detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318205A (en) * | 2018-11-19 | 2019-02-12 | 广州供电局有限公司 | Infrared detection robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200922 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee before: GUANGZHOU POWER SUPPLY Co.,Ltd. |
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| TR01 | Transfer of patent right |